/// <summary>
/// Toggles custom value textboxes when checkbox changes
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CustomMassValCheckbox_CheckedChanged(object sender, EventArgs e)
{
currentLink.UseCustomInertial = CustomMassValCheckbox.Checked;
PhysicalButton.Enabled = !CustomMassValCheckbox.Checked;
toggleCOMTextboxes();
if (CustomMassValCheckbox.Checked)
{
swManip = currentLink.modelDoc.ModelViewManager.CreateManipulator((int)swManipulatorType_e.swTriadManipulator, this);
triadManip = swManip.GetSpecificManipulator();
triadManip.DoNotShow = (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZRING
| (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZPlane | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXPlane;
triadManip.Origin = currentLink.swApp.GetMathUtility().CreatePoint(new double[] { currentLink.ComX, currentLink.ComY, currentLink.ComZ });
startOrigin = triadManip.Origin;
triadManip.UpdatePosition();
swManip.Show(currentLink.modelDoc);
}
else
{
InertiaButton_Click(null, null);
HideProperty();
}
}
/// <summary>
/// Draws preview arrows for the coordinate system. Axes should be calculated before hand.
/// </summary>
public void DrawOriginPreview()
{
triadManip = null;
swManips = null;
GC.Collect();
if (robot == null || robot.OriginPt == null || robot.Direction == null || robot.BasePlane == null)
{
return;
}
triadManip = null;
swManips = null;
GC.Collect();
ModelViewManager swModViewMgr = modelDoc.ModelViewManager;
MathPoint robotOrigin = mathUtil.CreatePoint(new double[] { robot.OriginX, robot.OriginY, robot.OriginZ });
swManips = new Manipulator[1];
MathVector[] axisVectors = new MathVector[3];
axisVectors[0] = mathUtil.CreateVector(new double[] { robot.AxisX, robot.AxisY, robot.AxisZ });
axisVectors[1] = CalcNormalVector(robot.BasePlane); //calculate vertical axis as normal of plane
axisVectors[2] = axisVectors[1].Cross(axisVectors[0]); //calculate horizontal axis as cross product between plane normal and direction axis.
swManips[0] = swModViewMgr.CreateManipulator((int)swManipulatorType_e.swTriadManipulator, this);
triadManip = (TriadManipulator)swManips[0].GetSpecificManipulator();
triadManip.DoNotShow = (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZRING
| (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZPlane | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXPlane;
triadManip.XAxis = axisVectors[0];
triadManip.YAxis = axisVectors[2];
triadManip.ZAxis = axisVectors[1];
triadManip.Origin = robotOrigin;
triadManip.UpdatePosition();
swManips[0].Show(modelDoc);
}
